0
$\begingroup$

Is there any example for adding subscriber to hardware interface ? Publisher works fine. My code is below, I dont know where its going wrong but unable to get values after publishing using CLI.

.hpp file '''

namespace diffdrive_ctre { class HardwareCommandPub : public rclcpp::Node { public:

HardwareCommandPub();
void publishData();
void pincmdcheck();

private: rclcpp::Publisher<amr_v4_msgs_srvs::msg::Motor>::SharedPtr pub_; rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr estop_pub_; rclcpp::Subscription<amr_v4_msgs_srvs::msg::Pin>::SharedPtr pin_sub_; rclcpp::TimerBase::SharedPtr timer_; amr_v4_msgs_srvs::msg::Pin latest_pin_cmd; };

class DiffDriveCTREHardware : public hardware_interface::SystemInterface {

''' .cpp file

HardwareCommandPub::HardwareCommandPub() : Node("Motor_Status") {

pub_ = this->create_publisher<amr_v4_msgs_srvs::msg::Motor>("talonFX_right/status", 10); estop_pub_ = this->create_publisher<std_msgs::msg::Bool>("/e_stop", 10); pin_sub_ = this->create_subscription<amr_v4_msgs_srvs::msg::Pin>("/amr/pin_cmd", 10, [this](const amr_v4_msgs_srvs::msg::Pin::SharedPtr pin_cmd) { latest_pin_cmd = *pin_cmd; });

}

void HardwareCommandPub::publishData() { // //motor1 auto message = amr_v4_msgs_srvs::msg::Motor(); message.temperature_right = motor_right.GetDeviceTemp().ToString(); message.bus_voltage_right = motor_right.GetSupplyVoltage().ToString();
message.output_current_right = motor_right.GetStatorCurrent().ToString(); message.error_right = motor_right.GetStickyFault_Hardware().ToString();

// //motor2 message.temperature_left = motor_left.GetDeviceTemp().ToString(); message.bus_voltage_left = motor_left.GetSupplyVoltage().ToString();
message.output_current_left = motor_left.GetStatorCurrent().ToString(); message.error_left = motor_left.GetStickyFault_Hardware().ToString();

// //motor pin   message.temperature_pin = pin_motor.GetDeviceTemp().ToString();   message.bus_voltage_pin =

pin_motor.GetSupplyVoltage().ToString(); message.output_current_pin = pin_motor.GetStatorCurrent().ToString(); message.error_pin = pin_motor.GetStickyFault_Hardware().ToString();

//estop auto message_estop = std_msgs::msg::Bool();
message_estop.data = estop_temp; if (rclcpp::ok()) { estop_pub_->publish(message_estop); pub_->publish(message); pincmdcheck(); } }

void HardwareCommandPub::pincmdcheck() { pin_temp = latest_pin_cmd.pin_command; RCLCPP_INFO( rclcpp::get_logger("Pin test"), "Got pin cmd '%i'and '%i' and '%s'!",pin_temp,latest_pin_cmd.pin_command); }

enter image description here

$\endgroup$

1 Answer 1

1
$\begingroup$

Have a look at this implementation of topic_based_ros2_control here.

Note that in general, it is not recommended to use a node inside the hardware interface if you have realtime requirements. Write your custom controller with realtime-safe implementations instead.

$\endgroup$
1
  • $\begingroup$ Thank you, that worked. But your point makes perfect sense. $\endgroup$
    – Ani
    Feb 8 at 14:45

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.